Can Reaction Wheel Effector take Speed Commands as input?

[AmolikaSoni]

I am working on a spacecraft project that uses reaction wheels that can take both torque and speed commands as input. We have designed our control in such a way that it sends out reaction wheel speed commands. As of now, the basilisk reaction wheel effector reads only torque command messages. Is there a possibility to provide an option to command speeds as well?

[schaubh]

No, the RW effectors are a torque-based solution of the dynamics. If you want to create a RW speed loop, you would need to write your own RW Speed servo module that accepts your speed commands and then does, for example, a PD control loop on the actual speed to output the RW motor torque solutions.